#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

int main(int argc,char **argv)
{
    //节点初始化
    ros::init(argc,argv,"velocity_publisher");

    //创建节点句柄
    ros::NodeHandle n;

    //创建一个Publisher，发布名为/turtle1/cmd_vel的topic，消息类型为geometry_msgs::Twist，队列长度10
    ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",10);

    // 设置循环的频率
    ros::Rate loop_rate(10);

    int count = 0;
    while (ros::ok())
    {
        // 初始化geometry_msgs::Twist类型的消息
        geometry_msgs::Twist vel_msg;
        vel_msg.linear.x = 0.5;
        vel_msg.angular.z = 0.2;

        // 发布消息
        turtle_vel_pub.publish(vel_msg);
        ROS_INFO("Publish turtle velocity command[%0.2f m/s,%0.2f rad/s]",vel_msg.linear.x,vel_msg.angular.z);

        // 按照循环频率延时
        loop_rate.sleep();
    }

    return 0;
    
}
